CAN-FD on the Raspberry Pi 2

Oct 22, 2021

This is a quick write-down of how to use CAN-FD via the MCP2517FD SPI-to-CAN converter.

I spent multiple hours getting this running and decided to write it down so that I don't have to remember it the next time. Also, maybe it helps some of you...

My Setup

Embedded Linux System: Raspberry Pi 2 Model B Rev 1.1

CAN-FD Board: MIKROE-2379 MCP2517FD from MikroElektronika

Kernel: Linux raspberrypi 5.10.63-v7+ #1459 SMP Wed Oct 6 16:41:10 BST 2021

Image: Raspberry Pi OS Lite from May 7th, 2021

The Hardware version of your Raspberry Pi can be read using:

cat /sys/firmware/devicetree/base/model

The Kernel version can be read using:

uname -a

Now, out of principle, we first run:

sudo apt-get update

sudo apt-get upgrade

Install some CAN utilities:

sudo apt-get install can-utils

Edit /boot/config.txt

Turn on SPI by uncommenting:

dtparam=spi=on

and add:

dtoverlay=mcp251xfd,oscillator=40000000,interrupt=12

Note: Set oscillator and interrupt according to your hardware.

Check

After rebooting, check the boot log using:

dmesg

The boot log should contain something like this:

mcp251xfd spi0.0 can0: MCP2517FD rev0.0 (-RX_INT +MAB_NO_WARN +CRC_REG +CRC_RX +CRC_TX +ECC -HD c:40.00MHz m:20.00MHz r:17.00MHz e:15.62MHz) successfully initialized.

The device should now be available in the device tree. This can be verified using the following command:

ls /sys/bus/spi/devices/spi0.0/net/can0/

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Initialize

sudo ip link set can0 up type can bitrate 500000 dbitrate 500000 sample-point 0.75 dsample-point 0.75 sjw 2 fd on

Note: Change initialization according to your BUS settings.

Now, the can0 interface should be visible when running:

ifconfig

Test

Use

candump can0